
Research Article
Robust Robotic Arm Calibration combining Multi-Distance Optimization Approach with Lagrange Starfish Optimization Algorithm
@ARTICLE{10.4108/airo.9002, author={Yongtao Qu and Zhiqiang Li and Long Liao and Xun Deng and Yuanchang Lin and Tinghui Chen and Linlin Chen and Jia Liu and Peiyang Wei and Jianhong Gan and ZhenZhen Hu and Can Hu and Yonghong Deng and Wei Li and Zhibin Li}, title={Robust Robotic Arm Calibration combining Multi-Distance Optimization Approach with Lagrange Starfish Optimization Algorithm}, journal={EAI Endorsed Transactions on AI and Robotics}, volume={4}, number={1}, publisher={EAI}, journal_a={AIRO}, year={2025}, month={6}, keywords={Lagrangian Starfish Optimization Algorithm, LSFA, Support Vector Machine, SVM, Multi-dimensional distance metrics, Robotic arm calibration, Dynamic parameter estimation, Intelligent optimization algorithm}, doi={10.4108/airo.9002} }
- Yongtao Qu
Zhiqiang Li
Long Liao
Xun Deng
Yuanchang Lin
Tinghui Chen
Linlin Chen
Jia Liu
Peiyang Wei
Jianhong Gan
ZhenZhen Hu
Can Hu
Yonghong Deng
Wei Li
Zhibin Li
Year: 2025
Robust Robotic Arm Calibration combining Multi-Distance Optimization Approach with Lagrange Starfish Optimization Algorithm
AIRO
EAI
DOI: 10.4108/airo.9002
Abstract
In response to the limitations of existing robotic parameter calibration methods in terms of computational complexity, convergence speed, data requirements, and accuracy, this study proposes an innovative calibration scheme that combines an improved Lagrangian Starfish Optimization Algorithm (LSFA) with a Support Vector Machine (SVM) algorithm. By incorporating Lagrange interpolation and a multi-dimensional distance metric model (including Mahalanobis distance, Manhattan distance, Chebyshev distance, cosine distance, standardized Euclidean distance, and Euclidean distance), the enhanced starfish optimization algorithm significantly improves global search capabilities and local search accuracy. This effectively addresses issues such as initial value sensitivity, noise, and outliers, with the algorithm specifically designed for kinematic parameter calibration of robotic arms. Furthermore, the improved local search mechanism optimizes the position update strategy of starfish through a weighted system, preventing the algorithm from becoming trapped in local optima. To further enhance the accuracy of dynamic parameter calibration, this study integrates the SVM algorithm into the LSFA framework, proposing the LSFA-SVM method specifically for dynamic parameter calibration of robotic arms. Experiments demonstrate a 38.59% reduction in error compared to traditional SVM. The results indicate that LSFA excels in kinematic calibration of robotic arms, achieving a root mean square error (RMSE) of 0.29 mm, a 29.27% improvement over the traditional Starfish Optimization Algorithm (SFOA). This study provides an efficient and precise solution for robotic parameter calibration in complex environments.
Copyright © 2025 Y. Qu et al., licensed to EAI. This is an open access article distributed under the terms of the CC BY-NC-SA 4.0, which permits copying, redistributing, remixing, transformation, and building upon the material in any medium so long as the original work is properly cited.